CN102714407A - Safety circuit assembly and method for the fail-safe monitoring of a movement variable - Google Patents
Safety circuit assembly and method for the fail-safe monitoring of a movement variable Download PDFInfo
- Publication number
- CN102714407A CN102714407A CN2010800621416A CN201080062141A CN102714407A CN 102714407 A CN102714407 A CN 102714407A CN 2010800621416 A CN2010800621416 A CN 2010800621416A CN 201080062141 A CN201080062141 A CN 201080062141A CN 102714407 A CN102714407 A CN 102714407A
- Authority
- CN
- China
- Prior art keywords
- signal
- safety circuit
- circuit device
- code device
- reference voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
- H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
- G01D5/24461—Failure detection by redundancy or plausibility
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The present invention relates to a safety circuit assembly (10) for the fail-safe monitoring of a movement variable of a movable machine part, in particular a rotational speed, comprising a signal input (16) for feeding a transmitter signal (A), wherein the transmitter signal (A) is representative of the movement variable to be monitored, a reference voltage path (20) for feeding a reference voltage (UrefA), a tap (M), which is connected to the signal input (16) and the reference voltage path (20) in order to provide a superposition signal by superimposing the transmitter signal (A) with the reference voltage (UrefA), and a measurement unit (22), which is connected to the tap (M) and designed to detect whether the superposition signal has reached at least one predefined signal level or within a predefined signal level range.
Description
Technical field
The present invention relates to a kind of safety circuit device, a kind of watch-dog and a kind of method of kinematic variables, the especially rotating speed of the mechanical part of monitoring moving with safety circuit device with being used for failure safe.
Background technology
The invention particularly relates to the fail-safe monitoring of rotating speed coder, to be used to protect the deathtrap on the equipment of the for example automatically working of lathe, robot, conveyer belt or the automatic door that opens and closes.The deathtrap majority of said machinery or equipment is protected through guard rail, grating and other devices, makes to avoid directly entering into the deathtrap and/or equipment being turn-offed when entering into the deathtrap.Yet, there is following situation, under said situation, can not stop the deathtrap of access arrangement fully, for example when machinery or automatically-controlled door place set up the workflow of automation.Be known that the kinematic variables with the corresponding driving device in order to minimize the injury to personnel risk, for example the speed of the moving component of the rotating speed of driver and/or torque or equipment and/or power are limited to the maximum of qualification.For example, when shutter is opened, can be with speed operation lathe that reduce, restricted.In order under said situation, to guarantee personal security, must with fail-safe mode monitor work driver bring the dangerous sports variable.
Usually be compared to each other through dual at least monitoring variables corresponding and with corresponding results and realize fail-safe monitoring.Only work as and need only the measurement result unanimity of the redundancy of dangerous sports variable, then allow the dangerous sports that bring of mechanical perhaps equipment.In addition, fail-safe monitoring realizes that through evaluating system independent of each other said evaluating system can be assessed one or more control measurement variablees.
From DE 100 35 783 A1, become known for monitoring the synchronous perhaps supervising device of the rotating speed of asynchronous motor; Wherein detect rotating speed by means of speed probe; And compare with the regulation rotating speed, and additionally measure the drive current of motor, and compare with the setting that will expect.Between the drive current of rotating speed of measuring and measurement, carry out likelihood and relatively realize monitoring the rotating speed of corresponding synchronous or asynchronous machinery redundantly.
Known a kind of circuit that is used for the speed of failure safe ground monitoring electric drive from DE 101 63 010 A1, the measurand of monitoring electric drive in two irrelevant each other systems.First monitoring unit is carried out monitoring according to the tachometer value of the perhaps measurement of estimation, and wherein second monitoring unit is assessed the measurand of the speed that is used for definite electric drive from the motor current value or from reconstruct voltage.Two irrelevant monitoring units be connected to each other via communication line and the likelihood of carrying out monitored results relatively.
Known a kind of rotational speed measuring device from DE 10 2,005 045 284 A1, wherein two irrelevant control units with the voltage ratio of the electric current of two motor phases and identical motor phase.In addition, additionally detect the total current of whole motor phases and from the ripple of the signal that detects, assess rotating speed.Be implemented in faults in the supervisory control system thus.
Known method and apparatus all is directed to the measurand and the transducer of the rotating speed expression campaign, for example driver available in concrete condition quite consumingly.Yet exist extremely a large amount of different sensor of unlike signal can be provided.For example, there is the incremental rotary encoder that two kinds of different rectangular signals that have a plurality of rectangular pulses respectively are provided.Can confirm rotary speed and direction of rotation according to number of pulses and signal phase place relative to each other.Signal level is generally TTL (transistor-transistor logic) level under said situation.Yet, also there is the incremental encoder of the signal that (high threshold loogic) level that has HTL is provided, this voltage level is apparently higher than the voltage level in the TTL signal in other words.In addition, there is the rotating speed coder that analog sine and/or cosine signal are provided, for example resolver.At this, amplitude can also change according to the transducer that uses.In addition; Have the special sensor interface that also uses other signals, for example
so far must be correspondingly according to the rotating speed coder type selecting of use and the assessment apparatus of realization assessment rotating speed coder signal.Expectation be to have following assessment apparatus: it can and be compact with mode and a plurality of different sensor type combination cheaply in addition.
Summary of the invention
To said background, the objective of the invention is, the method and apparatus of said type at the beginning is provided, said method and apparatus is realized failure safe ground monitoring moving variable by the equipment of the multiple different sensor that is used to detect kinematic variables.
According to a first aspect of the invention, this purpose realizes that through the safety circuit device it has: signal input part, be used to carry code device signal, and wherein code device signal is represented kinematic variables to be monitored; Be used to carry the reference voltage path of reference voltage; Tap, it is connected with the reference voltage path with signal input part, so that through code device signal and reference voltage are superposeed superposed signal is provided; And measurement mechanism, it is connected with tap and constitutes, and confirms whether superposed signal reaches preset signal level at least and perhaps be positioned within the preset signal level range.
According to a further aspect in the invention; Said purpose realizes through the method with following step: the code device signal that expression kinematic variables to be monitored is provided; Produce superposed signal through code device signal and reference voltage are superposeed, and whether the check superposed signal reaches preset signal level at least or is positioned within the preset signal level range.
Said new safety circuit device and said new method are based on idea: will on input, flow to the code device signal and reference voltage qualification, the independent stack of safety circuit device, and preferred or rather also before signal evaluation originally.Preferably, reference voltage is a direct voltage, i.e. code device signal and direct voltage stack.Thus, can handle the code device signal that has the unlike signal level, and aspect likelihood, check these code device signals.Code device signal itself can have the various signals level, and said signal level can transform in the level range of expectation through reference voltage.When code device signal exists error-free; The superposed signal that forms through code device signal and reference voltage sum has definite signal level, and said signal level obviously is different from vicious code device signal or lacks code device signal on measuring technique.The code device signal and the reference voltage that must obviously be different from code device signal itself, mistake by the signal level that superposed signal reaches.Thus; Current whole circuit apparatus and method realize the mistake of the encoder that reliable recognition connected and the mistake when signal transmits that is causing through for example broken cable; And therefore generation error signal, and intervene in the control of mechanical part or need the motion of stops machine parts possibly.
From said reason; New safety circuit device and new method are suitable for especially well; Coupling and with kinematic variables and the especially rotating speed of the mechanical part of low-cost and fail-safe mode monitoring moving, wherein said rotating speed is by sensor arbitrarily and especially detected by rotating speed coder.
The present invention especially can also be used for, and improves the diagnosis coverage according to IEC 61508.Therefore, fully realize above-mentioned purpose.
Preferably, code device signal has AC signal component.
AC signal component makes it possible to extremely easily monitor the signal dynamics of latent fault, for example monitors the short circuit in signal line.The AC signal component of code device signal can be each AC signal arbitrarily, for example rectangular signal, pulse signal or one or more sinusoidal signal.Measurand can transmit in any component at code device signal under the meaning of the present invention, for example in AC signal component, constant or direct current signal component, transmits, perhaps with unlike signal relation transmission to each other.
Advantageously can one-sided or bilateral ground restricting signal level range, promptly through maximum level or minimum levels or limit through minimum and maximum level.
In the preferred extension of safety circuit device, signal level or signal level range limit through upper limit threshold or lower threshold, and perhaps signal level range limits through upper limit maximum level and lower limit minimum levels.This expression, superposed signal both must reach upper limit threshold also must reach lower threshold or must be positioned within the signal level range, so that discern faultless process.If code device signal has AC signal component, can whether have faultless AC signal component or its through two threshold test code device signals so only is constant signal, and this is for example owing to the wrong or rupture of line of encoder.Threshold value preferably is adjusted to, and makes the positive edge of superposed signal reach or the process upper limit threshold, and within the said identical cycle, the edge negative or that descend of superposed signal reaches or the process lower threshold.If code device signal only has DC component, then can whether be positioned at signal level range through maximum level and minimum levels check superposed signal.
In addition advantageously be: measurement mechanism constitutes, if do not reach that preset signal level or superposed signal are not positioned within the signal level then the generation error signal.
Said expansion scheme realizes with simple mode, when the code device signal of monitoring do not have expectation or during for the common characteristic of faultless code device signal, turn-off driver.
Preferably, measurement mechanism constitutes, if do not have alternately and preferably within the cycle of the qualification of AC signal component, reach upper limit threshold and lower threshold, production rub-out signal so.
Can check reliably thus, whether faultless code device signal is provided, especially whether whether it have correct amplitude and perhaps " maintenance low level " mistake of recognition coding device mistake and related therewith " maintenance high level " reliably.
At this preferably, the rub-out signal that is generated constitutes the kinematic variables that influences mechanical part.Possible thus is, when recognizing mistake, intervenes in the motion that brings dangerous mechanical part at every turn and guarantees necessary security property.
Further preferably, measurement mechanism has analog comparator.
Can be by analog comparator with low expending; For example regulate the especially threshold value of threshold voltage, and can detect and check reaching of threshold value extremely apace by simple comparison output signal thus through the comparative voltage that preferably is applied on the analog comparator.
Further preferably, respectively through at least one analog comparator monitoring threshold value.Can irrespectively regulate threshold value thus each other and irrespectively assess the signal of comparator each other.
In addition preferably, measurement mechanism has at least one analog-to-digital conversion equipment.Thus, can be by the assessment unit check superposed signal of numeral.
Preferably code device signal is the signal of pulse type to a great extent in addition.
Thus, can also use TTL encoder, HTL or starter to be used to measure kinematic variables.
As an alternative, code device signal is sinusoidal signal to a great extent.
Thus, can also monitor the sin/cos encoder safely by the safety circuit plant failure.
In the safety circuit device, preferably, can automatically regulate at least one in reference voltage and/or threshold value or the threshold range by control unit.
Thus, can with each arbitrarily encoder be connected on the safety circuit device, and it is dispensable further to intervene circuit control.Can also when setting up circuit arrangement, get rid of mistake thus.
Preferably can manually regulate at least one in reference voltage and/or threshold value or the signal level range in addition.
Thus, can come to be provided with individually independent requirement to each encoder, for example about the sensitivity of safety circuit device or the requirement of reaction speed.
In preferred expansion scheme, tap is connected with the assessment unit that is used for definite kinematic variables.
Said expansion scheme realizes that the safety circuit device not only is used for failure safe ground monitoring code device signal, and also assesses code device signal quantitatively and for example measured rotating speed and measured speed are offered subsequent control.
In preferred expansion scheme, assessment unit has differential amplifier.
Through using differential amplifier can suppress or filter the disturbance of superposed signal, member, electromagnetic interference signal or common mode disturbances that said disturbance is for example passed through to be connected form.Therefore can assess the signal of this removal disturbance reliably.
In another expansion scheme, tap is connected with the input of differential amplifier, and wherein another input of differential amplifier is connected with another signal line, so that flow to the code device signal of differential amplifier another code device signal, especially anti-phase.
Said expansion scheme realizes likelihood relatively because the code device signal of anti-phase is provided by signal coder equally and therefore another measurand be used to check failure safe.In addition, can filter the for example signal component of DC voltage component, so that realize assessing more simply measurand through said circuit arrangement.
In preferred expansion scheme, assessment unit has the quadrature evaluator.
In said expansion scheme, be transferred the output signal of the different differential amplifiers of different coding device signal by the assessment of quadrature evaluation circuits.The special advantage of said appraisal procedure is that said appraisal procedure can be implemented with high precision, can measure higher rotating speed and identification direction of rotation.Can be simply and the analog signal of assessment expression kinematic variables reliably through said quadrature evaluation circuits.
In another expansion scheme, the quadrature evaluation circuits is connected with the input of differential amplifier and is connected with at least one second safety circuit device, wherein another code device signal is flowed to the said second safety circuit device.
In preferred expansion scheme, assessment unit has two redundant each other passages, and said passage is connected with the output of differential amplifier.
In said expansion scheme, because use another redundant evaluation circuits, so assessment code device signal reliably is possible.Therefore, said redundancy helps further to improve the failure safe of new safety circuit device and new method.
Can be understood that the aforementioned and following characteristic that also will illustrate not only can be used in the combination of respective description, but also can in other combination or individually, use, and not depart from scope of the present invention.
Description of drawings
Embodiments of the invention shown in the drawings, and sets forth in detail in the following description.It illustrates:
Fig. 1 illustrates first embodiment of the safety circuit device that is used for failure safe ground monitoring code device signal;
Fig. 2 illustrates the distortion according to the safety circuit device of Fig. 1;
Fig. 3 illustrates the reduced graph of watch-dog, in said watch-dog, use according to a plurality of safety circuit devices of Fig. 1 or Fig. 2 and
Fig. 4 illustrates the reduced graph that has according to the equipment of the watch-dog of Fig. 3.
Embodiment
In Fig. 1, the safety circuit device is provided with Reference numeral 10 generally.
Code device signal A on input signal circuit 16 guides to tap M via resistor R 1.Via resistor R 2 la tension de reference Uref est A is presented to tap M.Because code device signal A is directed on the la tension de reference Uref est A with R2 via the resistor R that forms voltage divider 1, so la tension de reference Uref est A is superimposed to code device signal A.Superposed signal has the level of AC signal component 17 and/or DC component 19 and la tension de reference Uref est A.The superposed signal that so forms can be in tap M place's intercepting.
In addition, in the encoder mistake, can consider two voltage statuss in principle.On the one hand; Encoder can provide the peaked constant high voltage that is equivalent to code device signal A (maintenance high level), the minimum value that is equivalent to code device signal A perhaps is provided on the other hand and under the situation of TTL encoder, for example is approximately 0 volt constant low voltage (maintenance low level).Therefore, superposed signal just in time reaches upper limit threshold once and under the situation of the maintenance low level mistake of encoder, just in time reach lower threshold and once and then keep constant in the maintenance high level mistake of encoder.If code device signal A only has DC component 19, then superposed signal is being positioned at outside the preset scope under the said situation, and can be identified as mistake.Therefore, can detect all possible wrong modification by measurement mechanism 22.
Preferably, measurement mechanism 22 has analog comparator, so that the level value of monitoring superposed signal.The threshold voltage of change modeling comparator and especially automatically be matched with the signal level of code device signal advantageously by assessment and control unit.If superposed signal does not reach threshold value within the period that limits, analog comparator 22 (perhaps analog comparator 22 ') is gone up at outlet line 24 (or 24 ') according to the level value of superposed signal and is produced rub-out signal so.Perhaps replenish ground as an alternative, measurement mechanism 22 can have analog to digital converter, so that the level value of definite superposed signal, wherein analog to digital converter and the comparing unit generation rub-out signal that is connected downstream under said situation.
UrefA preferably is regulated such that 17 whiles of alternating current component of the superposed signal of two generations with
.In addition, tap M,
are connected with differential amplifier input 26,32.Differential amplifier 28 provides differential amplifier output signal via output signal line road 30.Differential amplifier output signal is rectangular signal (pulse train with rectangular pulse); Said rectangular pulse signal is positive for following situation for example at this: code device signal A greater than the code device signal
of anti-phase otherwise, differential amplifier output signal is born.The disturbance that can remove code device signal A,
through differential amplifier 28, and assess by the assessment unit that is connected to 30 places, output signal line road of following explanation.Assessment unit advantageously can have quadrature decoder device, frequency meter and/the pulse duration meter so that confirm kinematic variables according to the signal transformation of rectangular signal, the for example rotating speed and/or the position of axle.
Through being arranged on the measurement mechanism 22,22 ' in the safety circuit 12,14, can check individually the encoder that is connected input 16,16 ' with connected output signal line road.
Whether reach upper limit threshold, reach lower threshold and/or check whether superposed signal is positioned within the preset signal level range through the inspection superposed signal; Can monitor different coding device signal, for example sine-shaped signal, pulse form signal, rectangular signal, the mixed signal that forms by DC component and alternating current component and the pure direct current signal that only has DC component.
In order to improve the Electro Magnetic Compatibility of safety circuit 12,14, tap M,
preferably guide to earth point GND via having the series circuit of the Zener diode that does not illustrate with the diode that does not illustrate.Said series circuit causes extremely low electric capacity, and said low electric capacity plays especially favourable effect when high edge frequency.
In order further to improve Electro Magnetic Compatibility, can be at tap M,
and differential amplifier input 26, preferably connect resistor between 32 respectively.In addition, each differential amplifier input 26,32 guides to earth point GND via transistor that does not illustrate and convertible resistor and is used for scope conversion.Thus, realize the operational amplifier of lower maximum voltage, especially 3.3 volts the use of operational amplifier.
Distortion at the device of safety circuit shown in Fig. 2 10.Components identical is represented with identical Reference numeral, and difference wherein only is discussed below.
The tap M of safety circuit 12 guides to earth point GND via the series circuit of resistor R 6 and resistor R 5.Measurement mechanism 22 is connected with tap 34, and said tap is between resistor R 6 and resistor R 5.Therefore, code device signal A guides to earth point GND via R1 and resistor R 5 with the voltage divider that R6 forms.Through said voltage divider, it is possible that different coding device signal A further is matched with measurement mechanism 22.
In order further to improve fail safe, except differential amplifier 28, can also be provided with another differential amplifier, said another differential amplifier is connected with differential amplifier input 26,32 as differential amplifier 28.The output signal line road of additional differential amplifier is connected with another assessment unit, so that guarantee added security.
Assess a plurality of code device signals at the watch-dog that has a plurality of safety circuit devices 10 shown in Fig. 3 to be used for failure safe ground.Watch-dog has three safety circuit devices 10 and on the whole with Reference numeral 29 expression at this.The first safety circuit device 10 ' is transferred code device signal A; Also be transferred code device signal
the second safety circuit device 10 if code device signal
exists " be transferred code device signal B; if code device signal
exists then also is transferred code device signal
the 3rd safety circuit device 10 " ' be transferred code device signal Z, if code device signal
exists then also is transferred code device signal
safety circuit device 10 ', 10 ", 10 " ' output signal line road 30 ', 30 ", 30 " ' be connected with second evaluation circuits 38 with first evaluation circuits 36 respectively.At this, code device signal B is the code device signal with respect to 90 ° of code device signal A phase shifts.Preferably, the code device signal B that provides by the encoder identical with code device signal A.In some cases, code device signal A and B (and possible reversal phase coding device signal
) are two so-called passages of incremental encoder.Yet code device signal A, B can also come from resolver or also come from the different coding device.
The code device signal of anti-phase
preferably provides with respect to 180 ° of code device signal B phase shifts and by the encoder identical with code device signal B.Code device signal Z can be provided by the encoder identical with B with code device signal A equally.For example, code device signal Z for example can be following index signal, and said index signal is illustrated in the reference point at the axle place of monitoring, makes it possible to the reference position by means of code device signal Z identification axle.
In other cases, code device signal Z is provided by the separate encoding device, and said encoder detects on the space kinematic variables away from first encoder.For example advantageously; Provide first encoder of signal A, B and possible
to be arranged on the first end place of rotating shaft, and second encoder that is used for the Z signal is arranged on the second end place of axle.Therefore, can confirm axle fracture etc. by means of the code device signal of two encoders.
The output signal A ' and the second safety circuit device 10 with the first safety circuit device 10 ' " output signal B ' flow to evaluation circuits 36,38; so that confirm kinematic variables to be measured, advantageously confirm or rather by means of quadrature assessment, frequency estimation and/or pulse evaluation.At this, output signal A ', B ' advantageously are safety circuit device 10 ' and 10 " the output signal of differential amplifier 28.
In addition, in a preferred embodiment, evaluation circuits 36,38 is from each safety circuit device 10 ', 10 ", 10 " ' measurement mechanism 22,22 ' obtain rub-out signal.Therefore, circuit arrangement 10 ', 10 ", 10 " ' outlet line 24,24 ' can be connected with evaluation circuits 36,38.Only be directed against to example safety circuit 10 among the said Fig. 3 of being connected " illustrate.
With tertiary circuit device 10 " ' the output signal conveys give evaluation circuits 36,38, and this output signal is advantageously used for index and perhaps is used for axle fracture and discerns.Preferably, the 3rd safety circuit device 10 " ' the output signal be monitored the axle each rotation one or at least one pulse are provided.
In addition, watch-dog 29 also has so-called S passage 40 at this, can give evaluation circuits 36,38 with the additional analog signal conveys via said S passage, so that detect additional measurand.Under preferred situation, the S passage is connected to the operating voltage circuit of employed encoder, makes evaluation circuits 36,38 can monitor the operating voltage of employed encoder, so that additional secure context is provided.
In quadrature assessment, will be applied to output signal line road 30 ' and the second safety circuit device 10 of the first safety circuit device 10 ' " output signal line road 30 " on two rectangular signal A ', B ' comparison mutually.The output signal is the rectangular signal through 90 ° of the same phase shifts of the phase shift of corresponding encoder signal A, B.In the quadrature assessment, when detecting the edge of one of two signal A ', B ' at every turn, the polarity of corresponding another signal of inspection and the value of corresponding another signal.From said information, can determine eight different state or scope; Or rather; For moving to right of axle is that A ' rises and B ' is low, A ' descends and B ' is high, B ' rises and A ' is high or B ' descends and A ' is low, and is that A ' rises and B ' is high, A ' descends and B ' is low, B ' rises and A ' is low or B ' descends and A ' height for moving to left of axle.Can confirm via the position of signal distance derivation axle.Can realize four times resolving power of tachometric survey through the quadrature assessment of two code device signal A that move past mutually, B.
In special form of implementation; Safety circuit device 10 ', 10 ", 10 " ' have two mutually redundant differential amplifiers 28; The differential amplifier input 26 of said differential amplifier is connected with tap M respectively, and the differential amplifier input 32 of said differential amplifier is connected with tap
respectively.The output signal line road 30 of first differential amplifier 28 is connected with evaluation circuits 36, and the output signal line road 30 of second differential amplifier 28 is connected with evaluation circuits 38.Thus, can guarantee the additional fault fail safe.
Be provided for the universaling coder connecting portion of watch-dog 29 by safety circuit device 10, said universaling coder connecting portion is realized the connection of analog channel of connection and
or the EnDaT encoder of TTL encoder, HTL encoder, sin/cos encoder, tachogenerator or two tachogenerators, resolver.At this; Can also connect the encoder of the code device signal
that anti-phase is not provided, for example start encoder.Replace inversion signal
can be under said situation direct voltage is applied to differential amplifier input 32 places or regulates direct voltage at differential amplifier input 32 places, preferably direct voltage is adjusted on the mean value of the signal at tap M place or rather.Under said situation, said code device signal
can mate via reference voltage
individually.Can be understood that, under said situation, can correspondingly mate safety circuit 14, so that do not produce rub-out signal owing to lacking the interchange variable that is detected.
In another embodiment, as shown in Fig. 3, can provide complete rotating speed and static watch-dog as watch-dog 29.At this; Said equipment has the apparatus casing that has the terminal that is used for code device signal A,
B,
Z,
and S, and exports measured rotating speed or kinematic variables and possible rub-out signal.This expression, safety circuit 10 ', 10 ", 10 " ' and assessment unit 36,38 be integrated in the said apparatus casing.Thus, realize especially simply said rotating speed and static watch-dog being integrated in existing machine and/or the equipment.
Fig. 4 illustrates the application of the watch-dog among Fig. 3.Equipment 29 is connected with encoder 58,60,62 via signal line 50,51,52,53,54,55,56 at this.Encoder 58,60,62 is associated with driver 64, so that the kinematic variables of the driver 64 of test example such as rotating speed, position, position, angle etc.Signal line 50 to 56 is connected with watch-dog 29 via slotting contact site 66.Output signal line road 46,48 is respectively by drawing in connectors 67 slave units 29 and being connected with controller 68.Controller 68 is preferably these inputs of fail-safe controller with a plurality of inputs and is used to connect emergency shutdown button, shutter, grating and/or watch-dog 29.Controller produces the controller signals that is used for one or more contactors 72 at this via output 70.Contactor 72 preferably has a plurality of contact sites that are connected in series (not illustrating at this), and said contact site is used for failure safe ground and turn-offs driver 64.Correspondingly, contactor 72 is connected with driver 64 via circuit 74.In another embodiment, controller 68 and/or contactor 72 can be integrated in the watch-dog 29, and promptly the evaluation circuits 36,38 of watch-dog 29 can produce the binary channels cut-off signals that is used for driver.
Claims (15)
1. the safety circuit device (10) of kinematic variables, the especially rotating speed of the mechanical part of monitoring moving has with being used for failure safe
-signal input part (16) is used to carry the code device signal (A) of representing said kinematic variables to be monitored,
-reference voltage path (20) is used to carry reference voltage (UrefA),
-the first tap (M), said first tap is connected with said reference voltage path (20) with said signal input part (16) so that through the stack of said code device signal (A) and said reference voltage (UrefA) is provided superposed signal and
-measurement mechanism (22), said measurement mechanism is connected with said first tap (M), and said measurement mechanism is configured for confirming whether said superposed signal reaches preset signal level at least and perhaps be positioned within the preset signal level range.
2. safety circuit device according to claim 1, wherein said code device signal (A) has AC signal component (17).
3. safety circuit device according to claim 1 and 2, wherein said preset signal level or signal level range limit through upper limit threshold and lower threshold.
4. safety circuit device according to claim 3, wherein said measurement mechanism (22) constitute generation error signal when alternately not reaching said upper limit threshold and said lower threshold.
5. according to the described safety circuit device of one of claim 1 to 4, wherein said measurement mechanism (22) has analog comparator (22).
6. according to the described safety circuit device of one of claim 1 to 5; Said safety circuit device also has control unit (36; 38), said control unit is configured for regulating automatically said reference voltage (UrefA) and/or said preset signal level or signal level range.
7. according to the described safety circuit device of one of claim 1 to 6, wherein can manually regulate said reference voltage (UrefA) and/or said preset signal level or signal level range.
8. according to the described safety circuit device of one of claim 1 to 7, said safety circuit device also has assessment unit (28; 36,38), be used for confirming said kinematic variables according to said code device signal (A).
9. safety circuit device according to claim 8, wherein said assessment unit (28; 36,38) be connected with said tap (M).
10. wherein said assessment unit (28 according to Claim 8 or 9 described safety circuit devices; 36,38) has differential amplifier (28).
11. safety circuit device according to claim 10; Said safety circuit device also has: secondary signal input (17); Be used to carry second code device signal
, the second reference voltage path (20 ') of expression said kinematic variables to be monitored; Be used to carry second reference voltage
and said second reference voltage of second tap
and said second code device signal
to superpose in said second tap, wherein said differential amplifier (28) has the first input end (26) that is connected with said tap (M) and another input (32) that is connected with said second tap
.
12. according to Claim 8 to one of 11 described safety circuit devices, wherein said assessment unit (28; 36,38) has quadrature Rating and Valuation Department.
13. safety circuit device according to claim 12; Wherein said quadrature evaluation circuits (36; 38) be connected with the output (30) of said differential amplifier (28) and be connected with at least one second safety circuit device (10); Another code device signal (B,
) flows to the said second safety circuit device.
14. the watch-dog of kinematic variables, the especially rotating speed of the mechanical part of failure safe ground monitoring moving, said watch-dog has a plurality of according to the described safety circuit device of one of claim 1 to 13.
15. be used for the method for kinematic variables, especially rotating speed of the mechanical part of failure safe ground monitoring moving, have following step:
-code device signal (A) is provided, said code device signal is represented said kinematic variables to be monitored,
-through being superposeed with reference voltage (UrefA), said code device signal (A) produces superposed signal,
Whether the said superposed signal of-check reaches preset signal level at least or is positioned within the preset signal level range.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009055991.4 | 2009-11-23 | ||
| DE102009055991A DE102009055991A1 (en) | 2009-11-23 | 2009-11-23 | Safety circuit arrangement for fail-safe monitoring of parameter i.e. speed, of moving machine part of automatically operating machine, has measuring device connected with tap to detect whether interfering signal reaches signal level |
| DE102009057196 | 2009-11-30 | ||
| DE102009057196.5 | 2009-11-30 | ||
| PCT/EP2010/068021 WO2011061345A1 (en) | 2009-11-23 | 2010-11-23 | Safety circuit assembly and method for the fail-safe monitoring of a movement variable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102714407A true CN102714407A (en) | 2012-10-03 |
| CN102714407B CN102714407B (en) | 2015-11-25 |
Family
ID=43575342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080062141.6A Active CN102714407B (en) | 2009-11-23 | 2010-11-23 | For safety circuit device and the method for failure safe ground monitoring moving variable |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9343896B2 (en) |
| EP (1) | EP2504900B1 (en) |
| JP (1) | JP5824457B2 (en) |
| CN (1) | CN102714407B (en) |
| WO (1) | WO2011061345A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106255928A (en) * | 2014-05-02 | 2016-12-21 | 皮尔茨公司 | For exercise machine parts being carried out the device and method of failure safe monitoring |
| CN110174882A (en) * | 2018-02-21 | 2019-08-27 | 凌力尔特科技控股有限责任公司 | The average reference of failure monitoring |
| CN111044085A (en) * | 2018-10-12 | 2020-04-21 | Wago管理有限责任公司 | Safety circuit and method for testing a safety circuit in an automation device |
| CN111886799A (en) * | 2018-02-06 | 2020-11-03 | 伦茨自动化有限责任公司 | Controller for controlling an electric motor |
| CN112740123A (en) * | 2018-08-21 | 2021-04-30 | 皮尔茨公司 | Automation system for monitoring safety-critical processes |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012022397B4 (en) * | 2012-11-16 | 2024-06-13 | Phoenix Contact Gmbh & Co. Kg | Method and device for evaluating signals coming from an OSSD output switching element |
| US9891142B2 (en) | 2014-11-21 | 2018-02-13 | Rockwell Automation Technologies, Inc. | Time-stamping and synchronization for single-wire safety communication |
| EP3260935B1 (en) * | 2016-06-21 | 2020-04-08 | Rockwell Automation Technologies, Inc. | Smart taps for a single-wire industrial safety system |
| DE102016117821A1 (en) * | 2016-09-21 | 2018-03-22 | Pilz Gmbh & Co. Kg | Safety circuit for fail-safe disconnection of a hazardous technical system |
| US11281191B2 (en) | 2020-04-29 | 2022-03-22 | Rockwell Automation Germany Gmbh & Co. Kg | Global e-stop in an industrial safety system with local and global safety input devices |
| EP4163739B1 (en) | 2021-10-05 | 2024-01-31 | B&R Industrial Automation GmbH | Method for monitoring an electrical switching assembly |
| DE102022110084A1 (en) | 2022-04-26 | 2023-10-26 | Sick Ag | Determining the position of a first object relative to a second object |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2563911B2 (en) * | 1985-11-27 | 1996-12-18 | ロ−ベルト・ボツシユ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | Monitoring device for rotation speed sensor |
| WO2001011375A1 (en) * | 1999-08-10 | 2001-02-15 | Pilz Gmbh & Co. | Method and device for detecting errors in the signals of a system for monitoring the rotation of a shaft |
| CN101228486A (en) * | 2005-06-21 | 2008-07-23 | 皮尔茨公司 | Safety switching apparatus and method for safe disconnection of a load of automated equipment |
| US20080255796A1 (en) * | 2007-02-05 | 2008-10-16 | Seiko Epson Corporation | Method and device for measuring rotation speed of rotating equipment |
| US20080298784A1 (en) * | 2007-06-04 | 2008-12-04 | Mark Allen Kastner | Method of Sensing Speed of Electric Motors and Generators |
Family Cites Families (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4563625A (en) * | 1984-05-17 | 1986-01-07 | The Stanley Works | Automatic door control system |
| FR2612713B1 (en) | 1987-03-20 | 1989-07-07 | Bendix Electronics Sa | CIRCUIT CONVERTING ANALOG SIGNALS INTO LOGIC SIGNALS |
| JPH07191805A (en) * | 1993-12-27 | 1995-07-28 | Rohm Co Ltd | Rotary encoder and input device using the same |
| JPH07234741A (en) * | 1994-02-22 | 1995-09-05 | Toshiba Corp | Battery driven electronic device |
| JP2000050664A (en) * | 1998-07-27 | 2000-02-18 | Matsushita Electric Ind Co Ltd | Motor controller |
| JP2000234942A (en) * | 1999-02-16 | 2000-08-29 | Koyo Electronics Ind Co Ltd | Encoder, and device and system for adjusting encoder |
| DE10035783A1 (en) | 1999-08-07 | 2001-02-08 | Bosch Gmbh Robert | Device for monitoring a measuring system of an electric drive |
| JP2001241972A (en) * | 2000-02-28 | 2001-09-07 | Nidec Copal Corp | Driving device with encoder and adjustment method thereof |
| JP3593050B2 (en) | 2001-03-27 | 2004-11-24 | 三菱電機株式会社 | Abnormality detection method and device for position detection device and electric power steering device |
| DE10163010B4 (en) | 2001-04-25 | 2007-01-25 | Siemens Ag | Method and device for safely monitoring the speed of an electrical machine |
| JP2002372437A (en) * | 2001-06-14 | 2002-12-26 | Yaskawa Electric Corp | Offset compensating circuit for encoder |
| US8183456B1 (en) * | 2002-05-23 | 2012-05-22 | Jon Murray Schroeder | Thermoelectric device with make-before-break high frequency converter |
| JP2004117318A (en) * | 2002-09-30 | 2004-04-15 | Ntn Corp | Bearing with rotation sensor, and motor using the same |
| EP1617181A4 (en) * | 2003-04-22 | 2013-10-30 | Panasonic Corp | Displacement-detecting device |
| WO2005043089A1 (en) | 2003-11-04 | 2005-05-12 | Nsk Ltd. | Controller for electric power-steering apparatus |
| JP2006153753A (en) * | 2004-11-30 | 2006-06-15 | Olympus Corp | Encoder |
| US20060209932A1 (en) * | 2005-03-18 | 2006-09-21 | Qualcomm Incorporated | Channel estimation for single-carrier systems |
| JP4656507B2 (en) * | 2005-04-01 | 2011-03-23 | 株式会社ニコン | Encoder signal adjustment device, encoder system, and encoder |
| DE102005045284A1 (en) | 2005-09-22 | 2007-03-29 | Pfeiffer Vacuum Gmbh | Speed monitoring device |
| JP4923173B2 (en) | 2006-01-17 | 2012-04-25 | ユニチカトレーディング株式会社 | Polyester knitted fabric |
| JP2007234741A (en) | 2006-02-28 | 2007-09-13 | Kyocera Kinseki Corp | Aligner |
| JP4475319B2 (en) | 2007-11-09 | 2010-06-09 | セイコーエプソン株式会社 | Electronics |
| JP5163963B2 (en) * | 2009-05-13 | 2013-03-13 | 富士電機株式会社 | Abnormality monitoring device |
| DE102010007349B4 (en) | 2009-02-09 | 2018-03-01 | Fuji Electric Co., Ltd. | Anomaly monitoring device |
-
2010
- 2010-11-23 JP JP2012539360A patent/JP5824457B2/en active Active
- 2010-11-23 CN CN201080062141.6A patent/CN102714407B/en active Active
- 2010-11-23 EP EP10788042.9A patent/EP2504900B1/en active Active
- 2010-11-23 WO PCT/EP2010/068021 patent/WO2011061345A1/en active Application Filing
-
2012
- 2012-05-17 US US13/473,677 patent/US9343896B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2563911B2 (en) * | 1985-11-27 | 1996-12-18 | ロ−ベルト・ボツシユ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | Monitoring device for rotation speed sensor |
| WO2001011375A1 (en) * | 1999-08-10 | 2001-02-15 | Pilz Gmbh & Co. | Method and device for detecting errors in the signals of a system for monitoring the rotation of a shaft |
| CN101228486A (en) * | 2005-06-21 | 2008-07-23 | 皮尔茨公司 | Safety switching apparatus and method for safe disconnection of a load of automated equipment |
| US20080255796A1 (en) * | 2007-02-05 | 2008-10-16 | Seiko Epson Corporation | Method and device for measuring rotation speed of rotating equipment |
| US20080298784A1 (en) * | 2007-06-04 | 2008-12-04 | Mark Allen Kastner | Method of Sensing Speed of Electric Motors and Generators |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106255928A (en) * | 2014-05-02 | 2016-12-21 | 皮尔茨公司 | For exercise machine parts being carried out the device and method of failure safe monitoring |
| CN106255928B (en) * | 2014-05-02 | 2024-06-07 | 皮尔茨公司 | Device and method for failsafe monitoring of a moving machine component |
| CN111886799A (en) * | 2018-02-06 | 2020-11-03 | 伦茨自动化有限责任公司 | Controller for controlling an electric motor |
| CN110174882A (en) * | 2018-02-21 | 2019-08-27 | 凌力尔特科技控股有限责任公司 | The average reference of failure monitoring |
| CN110174882B (en) * | 2018-02-21 | 2022-03-01 | 亚德诺半导体国际无限责任公司 | Mean reference for fault monitoring |
| CN112740123A (en) * | 2018-08-21 | 2021-04-30 | 皮尔茨公司 | Automation system for monitoring safety-critical processes |
| CN112740123B (en) * | 2018-08-21 | 2024-03-19 | 皮尔茨公司 | Automation system for monitoring safety-critical processes |
| CN111044085A (en) * | 2018-10-12 | 2020-04-21 | Wago管理有限责任公司 | Safety circuit and method for testing a safety circuit in an automation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102714407B (en) | 2015-11-25 |
| EP2504900A1 (en) | 2012-10-03 |
| WO2011061345A1 (en) | 2011-05-26 |
| JP5824457B2 (en) | 2015-11-25 |
| US9343896B2 (en) | 2016-05-17 |
| US20120268107A1 (en) | 2012-10-25 |
| EP2504900B1 (en) | 2018-04-18 |
| JP2013511757A (en) | 2013-04-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102714407B (en) | For safety circuit device and the method for failure safe ground monitoring moving variable | |
| CN103308078B (en) | Rotary encoder and method of detecting abnormality of rotary encoder | |
| US8344682B2 (en) | Method and apparatus for failsafe monitoring of a movement variable on an electrical drive | |
| US8659254B2 (en) | Servo system, servo motor driving device, safety unit and method for controlling servo system | |
| CN104254760B (en) | Servomotor and encoder | |
| US8451000B2 (en) | Inductive position sensor, measuring system equipped therewith and method for operating a position sensor | |
| US11079263B2 (en) | Apparatuses and methods for evaluating a signal emitted by a rotational angle sensor | |
| US20100289499A1 (en) | Monitoring device for monitoring a terminal of a terminal component | |
| CN106471729A (en) | The diagnosis of drive system and drive system | |
| CN104229578A (en) | Coder anomaly detection device and elevator device employing coder anomaly detection device | |
| CN108292127B (en) | Electric drive system comprising a sliding coupling unit | |
| CA2933948A1 (en) | Method and device for determining a physical quantity of a polyphase synchronous machine | |
| US10703395B2 (en) | Method and device for monitoring an electric network in a rail vehicle and rail vehicle | |
| CN105527906A (en) | Displacement sensor receiving channel monitoring circuit | |
| US9431936B2 (en) | Method for diagnosing a frequency converter | |
| US10203230B2 (en) | Multiturn rotary encoders | |
| Batchu | Functional safety in inverter hardware | |
| DE102009046923B4 (en) | A method, apparatus and system for monitoring the determination of a rotor angle of a rotating shaft by means of a resolver | |
| US20230236228A1 (en) | Method and apparatus for monitoring a sensor and processing chain | |
| DE102009055991A1 (en) | Safety circuit arrangement for fail-safe monitoring of parameter i.e. speed, of moving machine part of automatically operating machine, has measuring device connected with tap to detect whether interfering signal reaches signal level | |
| CN115940096A (en) | Method for monitoring an electrical switching device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |